Autonomous Multi-Floor Indoor Navigation with a Computationally Constrained MAV

This video shows our results on autonomous multi-floor indoor navigation with a quadrotor. We designed a system that is capable of autonomous navigation with real-time performance on a mobile processor using only onboard sensors. Specifically, we address multi-floor mapping with loop closure, localization, planning, and autonomous control, including adaptation to aerodynamic effects during traversal through spaces with low vertical clearance or strong external disturbances. All of the computation is done onboard the 1.6Ghz Intel Atom processor and uses ROS for interprocess communication. Human interaction is limited to provide high-level goals to the robot.